Visual Odometry through Appearance- and Feature-Based Method with Omnidirectional Images

Table 1

Relevant parameters of the image sets used in the experiments.

Environment	Name	Number images	Image resolution	Distance traversed	Environment size
Laboratory 1	Data set 1	858	720 × 720 pixels	85.8 m	1.8 × 1.7 m
Laboratory 2	Data set 2	267	720 × 720 pixels	26.7 m	3.7 × 5.4 m
Corridor	Data set 3	416	720 × 720 pixels	41.6 m	1.4 × 7.1 m